2D Simultaneous Localization And Mapping for Micro Air Vehicles
Résumé
The purpose of the work reported here is to design a purely vision-based Simultaneous Localization And Map-building system for a MAV flying at a constant altitude. We demonstrate the e ectiveness of our approach with videos taken from a heading-down camera mounted on diff erent MAV. In particular, results on loop-closure detection and on map-precision improvement through an on-line estimate of the camera's radial distortion coefficient are presented.
Domaines
Robotique [cs.RO]| Origine | Fichiers produits par l'(les) auteur(s) |
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